Operator selectable speed input
An improved system of determining the speed at which an agricultural vehicle is traveling is disclosed. A control system for the sprayer receives feedback signals from multiple sensors, where each feedback signal may be utilized to determine the speed at which the sprayer is traveling. An operator interface, such as a touch-screen terminal, is provided to receive input from the operator for selecting one of the feedback signals. Each of the feedback signals has certain operating conditions under which they are more or less reliable. The operator may select one of the feedback signals from which the speed of the sprayer is determined according to the present operating conditions. The speed determined from the selected feedback signal is then used by the sprayer to control and record application of product to the field.
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The invention relates generally to agricultural product application equipment such as self-propelled sprayers and, in particular, to a system for selecting between multiple speed sensors to provide a speed input signal for controlling application of product.
BACKGROUND OF THE INVENTIONAgricultural vehicles are used under a wide range of operating conditions. The vehicles are used outdoors and may be required to traverse a paved road to move from a storage facility to a field and then traverse an unpaved surface getting to and working in the field. The vehicles may further be required to operate at varying speeds or under varying loads depending on the type of crops, tillage method, or the particular application being performed.
Sprayers, as a specific type of agricultural vehicle, may apply liquid or dry products, such as fertilizers, herbicides, and/or pesticides to a field. The sprayer typically includes a holding tank in which the product may be loaded prior to transport to a field or while in the field. The sprayer may subsequently travel to the field and apply the product to the field. Certain products may be applied prior to or shortly after planting, prior to emergence of the crop. Other products may need to be applied during the various stages of the growth cycle of the crop. In order to control the track and/or control the rate at which product is applied to the field, the speed at which the vehicle is traveling and the flow rate at which the product is dispensed must be known.
Historically, sprayers have utilized a radar signal to determine the speed at which the sprayer is travelling. The radar signal is transmitted from a radar source mounted to the sprayer, reflected off an external object and returned to a receiver on the sprayer. The radar system generates a pulse train, corresponding to the speed at which the vehicle is traveling and provides the pulse train to an input on a rate controller. The rate controller may then adjust the flow rate of the product being dispensed according to the pulse train input to maintain a desired application rate of the product being dispensed.
Because the sprayers are operated outdoors and throughout the growing cycle, they are subject to a wide variety of operating conditions that may impact the speed feedback signal. Varying weather conditions, such as rain, obstructions in the field, or the crops, such as wheat or corn, as they grow may interfere with the radar signal transmitted from the sprayer. As a result, the speed feedback signal may be inaccurate and the sprayer may apply an undesired amount of product to the field.
Thus, it would be desirable to provide an improved system of determining the speed at which the sprayer is traveling.
SUMMARY OF THE INVENTIONThe present invention discloses an improved system of determining the speed at which an agricultural vehicle is traveling. A control system for the sprayer receives feedback signals from multiple sensors, where each feedback signal may be utilized to determine the speed at which the sprayer is traveling. An operator interface, such as a touch-screen terminal, is provided to receive input from the operator for selecting one of the feedback signals. The feedback signals may include, for example, a radar signal, a wheel speed sensor, a transmission speed pickup, or a Global Position Signal (GPS). Each of the feedback signals has certain operating conditions under which they are more or less reliable. The operator may select one of the feedback signals from which the speed of the sprayer is determined according to the present operating conditions. The speed determined from the selected feedback signal is then used by the sprayer to control and record application of product to the field. Optionally, the operator may opt for automatic selection of the feedback signal.
According to one embodiment of the invention, apparatus for determining an application rate for a product delivered by an agricultural vehicle is disclosed. The apparatus includes a plurality of sensors, each of the plurality of sensors operable to generate a signal responsive to motion of the agricultural vehicle, and a controller in communication with each of the plurality of sensors to receive the signal generated by each sensor. The controller is operable to determine which of the signals from the plurality of sensors is a desired feedback signal, convert the desired feedback signal to a speed feedback signal corresponding to a speed at which the agricultural vehicle is moving, and determine the application rate for the product to be delivered responsive to converting the desired feedback signal to the speed feedback signal.
According to another aspect of the invention, the controller includes a first controller and a second controller. The first controller is in communication with each of the plurality of sensors to receive the signal generated by each sensor and is operable to: determine which of the signals from the plurality of sensors is the desired feedback signal, convert the desired feedback signal to the speed feedback signal corresponding to the speed at which the agricultural vehicle is moving, and transmit the speed feedback signal via at least one of a dedicated speed output and a communication bus. The second controller is in communication with the first controller to receive the speed feedback signal from at least one of the dedicated speed output and the communication bus and is operable to determine the application rate for the product to be delivered responsive to receiving the speed feedback signal from the first controller.
According to another aspect of the invention, the speed feedback signal may be a series of pulses varying in frequency as a function of the speed at which the agricultural vehicle is moving, and the series of pulses may be transmitted to the second controller via the dedicated speed output. Optionally, the speed feedback signal is a value stored in a register of the first controller, and the value is transmitted to the second controller via a data packet on the communication bus.
According to yet another aspect of the invention, the first controller includes a memory storing at least one performance criterion for each signal from the plurality of sensors. Multiple operational sensors on the agricultural vehicle each provide a signal corresponding to operation of the agricultural vehicle to the first controller, and the first controller selects the signal from the operational sensors to be converted to the speed feedback signal as a function of the performance criterion and of the operation of the agricultural vehicle.
According to still another aspect of the invention, the agricultural vehicle includes a cab in which an operator rides. A user interface within the cab is in communication with the first controller. The user interface may provide a prompt to the operator for selection of one of the sensors and may receive an input from the operator corresponding to one of the sensors. The first controller is operable to receive the input from the user interface corresponding to one of the sensors and the signal converted to the speed feedback signal is from the sensor selected by the operator. The sensors may include at least three sensors and may selected from among a radar system, a wheel speed sensor, an antenna in communication with a navigation system, and transmission pickup. It is further contemplated that one of the sensors may be mounted either to a frame or to a wheel of the agricultural vehicle. In addition, one of the sensors may be in communication with a satellite navigation system.
According to another embodiment of the invention, a method for controlling operation of an agricultural vehicle as a function of the speed at which the agricultural vehicle is traveling over a surface is disclosed. A controller receives a signal from each of multiple sensors at a controller. Each sensor is operable to generate the signal responsive to motion of the agricultural vehicle. An input from a user interface is also received at the controller, where the input identifies one of the plurality of sensors from which a speed feedback signal is generated. The signal received from the identified sensor is converted to the speed feedback signal. According to one aspect of the invention, the signal from a first of the plurality of sensors is in a first format, the signal from a second of the plurality of sensors is in a second format, and each of the signals is converted to a single format for the speed feedback signal. Operation of the agricultural vehicle is controlled as a function of the speed feedback signal.
According to another aspect of the invention, the speed feedback signal may be a series of pulses varying in frequency as a function of the speed at which the agricultural vehicle is moving and control of the agricultural vehicle includes the steps of receiving a clock signal at the controller, determining a duration between successive pulses from the series of pulses as a function of the clock signal, reading a conversion factor from a memory device with the controller, and generating a velocity signal as a function of the duration between successive pulses and the conversion factor. The conversion factor identifies the number of pulses during a predefined duration expected from the signal converted to the speed feedback signal. Optionally, the speed feedback signal may be a value stored in a memory device of the first controller and control of the agricultural vehicle further includes reading a conversion factor from a memory device with the controller and generating a velocity signal as a function of the value stored in the memory device and the conversion factor.
According to yet another aspect of the invention, the agricultural equipment may be operating and converting the signal from the identified sensor to a speed feedback signal based on a signal from the first of the plurality of sensors. The controller may receive a new input from the user interface identifying the signal from the second of the plurality of sensors to generate the speed feedback signal and switch the signal from the first of the plurality of sensors to the signal from the second of the plurality of sensors for conversion to the speed feedback signal during operation of the agricultural equipment.
According to still another embodiment of the invention, a method for determining an application rate for a product delivered by an agricultural vehicle is disclosed. A signal from each of a plurality of sensors is received at a controller, where each sensor generates the signal responsive to motion of the agricultural vehicle. An input from a user interface is also received at the controller, where the input identifies one of the sensors. The signal from a first of the plurality of sensors is in a first format, the signal from a second of the plurality of sensors is in a second format, and each of the signals is converted to a single format for the speed feedback signal. The signal received from the identified sensor is converted to a speed feedback signal, and the application rate for the product delivered by the agricultural vehicle is determined as a function of the speed feedback signal. It is contemplated that the controller may include a first controller and a second controller, the signal from each of the plurality of sensors is received at the first controller, the input from the user interface is received at the first controller, the signal received from the identified sensor is converter to a speed feedback signal at the first controller, and the application rate is determined at the second controller. The speed feedback signal may be transmitted from the first controller to the second controller between the steps of converting the signal and determining the application rate.
Other aspects, objects, features, and advantages of the invention will become apparent to those skilled in the art from the following detailed description and accompanying drawings. It should be understood, however, that the detailed description and specific examples, while indicating preferred embodiments of the present invention, are given by way of illustration and not of limitation. Many changes and modifications may be made within the scope of the present invention without departing from the spirit thereof, and the invention includes all such modifications.
Preferred exemplary embodiments of the invention are illustrated in the accompanying drawings in which like reference numerals represent like parts throughout.
The various features and advantageous details of the subject matter disclosed herein are explained more fully with reference to the non-limiting embodiments described in detail in the following description.
Referring now to the drawings and specifically to
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According to one embodiment of the invention, the sprayer 15 includes multiple sensors configured to generate a signal corresponding to motion of the sprayer 15. Each sensor may generate a signal according to a unique format, including, but not limited to a pulse train, an analog or digital signal, a radio frequency signal, and a message packet. The signal provides information on motion of the sprayer 15 which may be a position, a change in position, a speed, or a change in speed. Referring again to
Another sensor on the sprayer 15 may be one or more wheel speed sensors 32. The wheel speed sensor 32 may be a proximity sensor detecting either a single target or multiple targets oriented to pass by the proximity sensor during each revolution of the wheel. Alternately, the wheel speed sensor 32 may be a resolver or an encoder configured to generate, for example, a sinusoidal signal or a series of pulses corresponding to the angular position or change in angular position of the wheel. Referring also to
Still another sensor on the sprayer 15 may be an antenna 33 in communication with a navigation system, such as the Global Positioning System (GPS). The antenna 33a may be operatively connected directly to the controller 173 or to a dedicated GPS controller 37a for communication with the navigation system. According to the illustrated embodiment, the GPS controller 37 is in communication with multiple satellites in the navigation system to determine the present location of the GPS controller 37. The GPS controller 37a generates a signal 226 corresponding to its present location and transmits the signal 226 to the controller 173. The machine controller 172 may also include a clock 179 operable to generate a clock signal, corresponding to the present time, or to generate a pulse train at a known frequency, such that the time between pulses is similarly known. The controller 173 monitors the position signal 226 from the satellite navigation system and the clock signal to detect changes in position and a corresponding duration over which the change in position occurred. The controller 173 may then determine a speed feedback signal based on the change in position and the corresponding change in time.
The sprayer 15 may also include a sensor in the transmission, engine, or along the drive train to determine, for example, the revolutions per minute (rpm) of the transmission, engine 35, or drive line. According to the illustrated embodiment, a sensor 36 is provided to detect a rotational speed in the transmission. The transmission pickup 39 provides a signal 220 back to the controller 173 corresponding to the rpm of the transmission. The transmission pickup 39 may be provided at an input or output of the transmission or at an intermediate gear within the transmission. Characteristics of the sprayer 15 may be stored in the memory 177 of the machine controller 172, such as the gear ratio and/or wheel diameter such that the signal 220 from the transmission pickup 39 is converted to a speed feedback signal for the sprayer 15.
In operation, the operator may use the touchscreen 190 on the display 185 to select the signal 224, 222, 226, 229 from one of the sensors 31, 32, 37, 39 which the controller 173 will use to generate a speed feedback signal. With reference to
It is contemplated that the operator may select one of the sensors 31, 32, 37, 39 based on the current operating conditions. For example, the sprayer 15 may be initially filled with product at a barn or other storage facility. The sprayer 15 may need to travel some distance over paved surfaces to reach the field in which the product is to be applied. The operator may select the wheel speed sensor 32 and/or the transmission pickup 39 knowing that the sprayer 15 will be traveling on a paved surface. Upon reaching the field, the operator may select a different sensor 31, 32, 37, 39. If for example, the field is muddy, the wheels may slip while traversing the field. The wheel speed sensor 32 and transmission pickup 39 will not provide an accurate indication of the speed at which the sprayer 15 is traveling. The operator may select the position signal 226 from the GPS controller 37a from which to determine a speed feedback signal. However, on overcast days or in hilly terrain, the GPS controller 37a may not obtain a clear signal from the satellite navigation system and may report inaccurate position information. Thus, the operator may select the signal 224 from the radar system 31. The radar system 31, however, may be obstructed from certain tall crops, such as corn and provide an inaccurate signal 224 back to the controller 173. As may be observed from the description above, each of the sensors 31, 32, 37, 39 may work well in certain operating conditions and poorly in others. The operator may, therefore, identify the sensor 31, 32, 37, 39 that will provide the most desirable signal according the operating conditions. Further, if the operating conditions change as the sprayer 15 is applying product, the operator may activate the speed selection screen 200 and select a different sensor 31, 32, 37, 39 from which the speed feedback signal is generated.
As discussed above, each of the sensors 31, 32, 37, 39 generates a signal 224, 222, 226, 229 having a different format. The controller 173 converts the signal 224, 222, 226, 229 from each sensor to a speed feedback signal having a single format for transmission to the rate controller 170. The controller 173 may access registers in the memory 177 of the machine controller 172 containing conversion information specific to the signal being used. For example, a wheel speed sensor 32 may generate a certain number of pulses per revolution (ppr), such as 1024 or 2048 ppr. The number of ppr may be stored in memory 177 and retrieved when the wheel speed sensor 32 is selected. The controller 173 monitors the number of pulses received over a certain time and determines the rate at which the wheel is rotating. The controller 173 further may again read from memory a conversion factor based, for example, on the size of the tire that will convert the rate at which the wheel is rotating into a speed at which the sprayer 15 is traveling. Still other conversion factors may be stored in memory 177 for converting signals generated by the other sensors 31, 32, 37, 39.
Having generated a speed feedback signal, the controller 173 transmits the speed feedback signal to the rate controller 170, which will, in turn, adjust the rate at which product is applied to a field. With reference to
According to another embodiment of the invention, the machine controller 172 may have a dedicated output and the rate controller 170 may have a dedicated input between which a pulse signal 174 may be transmitted. The pulse signal 174 may be compatible with certain rate controllers 170 and is configured to transmit a series of pulses corresponding to the speed at which the sprayer 15 is traveling. The controller 173 may first convert each of the feedback signals 224, 222, 226, 220 from the respective sensor 31, 32, 37, 39 to a speed at which the sprayer 15 is traveling. The controller 173 may then convert that speed to a series of pulses, where the pulses may vary in frequency according to the speed at which the sprayer 15 is traveling. The pulse signal 174 is transmitted between the machine controller 172 and the rate controller 170. When the rate controller 170 receives the pulse signal 174 it converts the series of pulses back to a speed at which the sprayer 15 is traveling and the rate controller 170 may adjust the flow rate and/or enable/disable spray sections 72 which are applying the product from the sprayer 15.
According to still another aspect of the invention, certain rate controllers 170 may include an antenna 33b and GPS controller 37b. The GPS controller 37b for the rate controller 170 may provide position information to the rate controller 170 which is, in turn, configured to determine a speed at which the sprayer 15 is traveling. However, as discussed above, the antenna 33b and GPS controller 37b may not always receive a signal or receive a clear signal. Thus, the sprayer 15 may include the additional sensors 31, 32, 37, 39 generating their respective feedback signals 224, 222, 226, 220. The speed selection screen 200 may provide as an additional option GPS signal on the rate controller 170 as providing the speed feedback signal by which the rate controller 170 applies product to the field.
According to yet another aspect of the invention, the controller 173 may be set to automatically select one of the feedback signals 224, 222, 226, 220 for determining the speed at which the sprayer 15 is travelling. With reference again to
Performance based criteria may either entered, for example, via a separate screen on the display 185 or be determined by data stored in the memory 177 of the sprayer 15 over a period of operation. For the GPS controller 37a, performance based criteria may include, for example, the number of satellites in the navigation system, and, in particular, the number of satellites in a “constellation” proximate the location in which the agricultural vehicle is working. Other performance based criteria may include the height of the constellation above the horizon, the signal quality, the broadness of the constellation with respect to the vehicle, or other factors that may impact the quality of the signal transmitted between the antenna 33a and the satellites or the accuracy of the position calculation within the GPS controller 37a. For a transmission pickup 39 or wheel speed sensor 32, the performance based criterion may include, for example, a record of the frequency at which the controller 173 executes a traction control routine, which corresponds to slippage of one or more of the wheels 45, or a standard deviation between pulses received at the controller 173. For the radar 31, the performance based criterion may include a reading of the boom height, which may provide an indication of the height of the canopy for the crops over which the sprayer 15 is traversing, or of a standard deviation between pulses received at the controller 173. Still other variables by which performance of one of the sensors 31, 32, 37, 39 may be evaluated may be manually entry or by recording data and storing the data in memory 177. Automated selection may further be determined by a weighted average of the criteria stored in memory 177. For example, the frequency at which the controller 173 executes a traction control routine may more negatively impact the accuracy of the feedback signal from the speed sensor 32 or transmission pickup 39 than the number of satellites in the constellation around the sprayer 15 impacts the feedback signal from the GPS controller 37a.
In operation, the controller 173 monitors the performance of the sprayer 15 and automatically selects a desired sensor 31, 32, 37, 39 from which the speed feedback signal will be calculated. In a first example, the wheel speed sensor 32 or the transmission pickup 39 may be the preferred sensor. When the field is dry and there is little or no slippage of the wheels 45, the controller 173 may select the wheel speed sensor 32 or the transmission pickup 39. If, however, the field is muddy and the wheels 45 frequently slip, the sprayer 15 may select the GPS sensor 37. In a second example, the GPS sensor 37 may be the preferred sensor. In a first location, the constellation may provide excellent coverage of the field in which the sprayer 15 is operating and the controller 173 selects the GPS sensor 37. In another field, or in a field next to a hill interfering with transmission to one or more satellites, the coverage may be poor and the controller 173 may select the wheel speed sensor 32 or the transmission pickup 39. In either example, under automatic operation, the controller 173 attempts to utilize the best feedback signal 224, 222, 226, 220 from which it can determine a speed feedback signal without requiring operator intervention on the speed selection screen 200.
Many changes and modifications could be made to the invention without departing from the spirit thereof. The scope of these changes will become apparent from the appended claims.
Claims
1. A method for controlling operation of an agricultural vehicle as a function of a speed at which the agricultural vehicle is traveling over a surface, the method comprising the steps:
- receiving a signal from each of a plurality of sensors at a controller, each sensor operable to generate the signal responsive to motion of the agricultural vehicle;
- receiving an input from a user interface at the controller, the input identifying one of the plurality of sensors;
- converting the signal received from the identified sensor to a speed feedback signal, wherein the signal from a first of the plurality of sensors is in a first format, the signal from a second of the plurality of sensors is in a second format, and each of the signals is converted to a single format for the speed feedback signal; and
- controlling operation of the agricultural vehicle as a function of the speed feedback signal.
2. The method of claim 1 wherein the speed feedback signal is a series of pulses varying in frequency as a function of the speed at which the agricultural vehicle is moving and wherein the step of controlling operation of the agricultural vehicle further comprises the steps of:
- receiving a clock signal at the controller;
- determining a duration between successive pulses from the series of pulses as a function of the clock signal;
- reading a conversion factor from a memory with the controller wherein the conversion factor identifies a number of pulses during a predefined duration expected from the signal converted to the speed feedback signal; and
- generating a velocity signal as a function of the duration between successive pulses and the conversion factor.
3. The method of claim 1 wherein the speed feedback signal is a value stored in a memory of the first controller and wherein the step of controlling operation of the agricultural vehicle further comprises the steps of:
- reading a conversion factor from the memory with the controller; and
- generating a velocity signal as a function of the value stored in the memory and the conversion factor.
4. The method of claim 1 wherein the agricultural equipment is operating and is converting the signal from the identified sensor to a speed feedback signal based on the signal from the first of the plurality of sensors, the method further comprising the steps of:
- receiving a new input from the user interface identifying the signal from the second of the plurality of sensors to generate the speed feedback signal during operation of the agricultural equipment; and
- switching the signal from the first of the plurality of sensors to the signal from the second of the plurality of sensors for conversion to the speed feedback signal during operation of the agricultural equipment.
5. The method of claim 1 further comprising the steps of:
- storing at least one performance criterion for each signal from the plurality of sensors in a memory of the controller;
- receiving a signal at the controller from a plurality of operational sensors on the agricultural vehicle, and
- the controller selecting a desired feedback signal from the signal from each of the plurality of sensors to be converted to the speed feedback signal as a function of the performance criterion and of the signals from the plurality of operational sensors.
6. The method of claim 1 wherein the plurality of sensors includes at least three sensors selected from the group consisting of a radar system, a wheel speed sensor, an antenna in communication with a navigation system, and a transmission pickup.
7. A method for determining an application rate for a product delivered by an agricultural vehicle, the method comprising the steps of:
- receiving a signal from each of a plurality of sensors at a controller, each sensor operable to generate the signal responsive to motion of the agricultural vehicle;
- receiving an input from a user interface at the controller, the input identifying one of the plurality of sensors;
- converting the signal received from the identified sensor to a speed feedback signal, wherein the signal from a first of the plurality of sensors is in a first format, the signal from a second of the plurality of sensors is in a second format, and each of the signals is converted to a single format for the speed feedback signal; and
- determining the application rate for the product delivered by the agricultural vehicle as a function of the speed feedback signal.
8. The method of claim 7 wherein the agricultural equipment is operating and is converting the signal from the identified sensor to a speed feedback signal based on the signal from the first of the plurality of sensors, the method further comprising the steps of:
- receiving a new input from the user interface identifying the signal from the second of the plurality of sensors to generate the speed feedback signal during operation of the agricultural equipment; and
- switching the signal from the first of the plurality of sensors to the signal from the second of the plurality of sensors for conversion to the speed feedback signal during operation of the agricultural equipment.
9. The method of claim 7 further comprising the steps of:
- storing at least one performance criterion for each signal from the first and the second of the plurality of sensors in a memory of the controller;
- receiving a signal at the controller from a first operational sensor on the agricultural vehicle corresponding to the performance criterion for the first of the plurality of sensors,
- receiving a signal at the controller from a second operational sensor on the agricultural vehicle corresponding to the performance criterion for the second of the plurality of sensors, and
- the controller selecting a desired feedback signal from the signal from each of the first and the second of the plurality of sensors to be converted to the speed feedback signal as a function of the signal from each of the first and the second operational sensors and of the performance criterion.
10. The method of claim 7 wherein:
- the controller includes a first controller and a second controller,
- the signal from each of the plurality of sensors is received at the first controller,
- the input from the user interface is received at the first controller,
- the signal received from the identified sensor is converted to the speed feedback signal at the first controller, and
- the application rate is determined at the second controller, the method further comprising the step of transmitting the speed feedback signal from the first controller to the second controller between the steps of converting the signal and determining the application rate.
11. The method of claim 10 wherein:
- the speed feedback signal is a series of pulses varying in frequency as a function of the speed at which the agricultural vehicle is moving,
- the first controller includes a dedicated speed output,
- the second controller includes a dedicated speed input, and
- the step of transmitting the speed feedback signal includes the first controller outputting the series of pulses from the dedicated speed output of the first controller to the dedicated speed input of the second controller.
12. The method of claim 11 wherein the step of determining the application rate for the product delivered by the agricultural vehicle further comprises the steps of:
- determining a number of pulses received within a predefined duration at the second controller; and
- adjusting the application rate as a function of the number of pulses received within the predefined duration.
13. The method of claim 10 wherein the speed feedback signal is a value stored in a memory device of the first controller and the step of transmitting the speed feedback signal includes the steps of:
- inserting the value of the speed feedback signal into a data packet formatted according to a protocol of a network connected between the first controller and the second controller; and
- transmitting the data packet via the network from the first controller to the second controller.
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Type: Grant
Filed: Apr 29, 2015
Date of Patent: May 23, 2017
Patent Publication Number: 20160316616
Assignee: CNH Industrial America LLC (New Holland, PA)
Inventors: Nathan Paul Brooks (Manitowoc, WI), Roy A. Bittner (Cato, WI)
Primary Examiner: Rodney Butler
Assistant Examiner: Frederick Brushaber
Application Number: 14/699,724
International Classification: A01M 7/00 (20060101); A01B 79/00 (20060101); A01C 23/00 (20060101);